@misc{grey2016traversing,
  title={Traversing Environments Using Possibility Graphs for Humanoid Robots},
  author={Grey, Michael X and Ames, Aaron D and Liu, C Karen},
  howpublished={arXiv preprint arXiv:1608.03845},
  year={2016},
  url = {http://ames.caltech.edu/grey2016traversing.pdf}
}

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